Plugin/Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGHandLayerImpl.cpp

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2024 SenseGlove
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * @section DESCRIPTION
 *
 *
 */


#include "SGCoreImpl/SGHandLayerImpl.h"

#include <vector>

#include "Containers/StringConv.h"

#include "SGBuildHacks/SGInclude_Core_CustomWaveform.h"
#include "SGBuildHacks/SGInclude_Core_HandLayer.h"
#include "SGBuildHacks/SGInclude_Core_HandPose.h"
#include "SGBuildHacks/SGInclude_Core_Quat.h"
#include "SGBuildHacks/SGInclude_Core_Vect3D.h"
#include "SGCoreImpl/SGCustomWaveformImpl.h"
#include "SGCoreImpl/SGCustomWaveformImpl.h"
#include "SGCoreImpl/SGCoreEnumCast.h"
#include "SGCoreImpl/SGHandPoseImpl.h"
#include "SGCoreImpl/SGHapticGloveImpl.h"
#include "SGCoreImpl/SGQuatImpl.h"
#include "SGCoreImpl/SGVect3DImpl.h"
#include "SGUtils/SGArrayUtils.h"

bool FSGHandLayerImpl::DeviceConnected(const bool bRightHanded)
{
    return FHandLayerType::DeviceConnected(bRightHanded);
}

ESGDeviceType FSGHandLayerImpl::GetDeviceType(const bool bRightHanded)
{
    return FSGCoreEnumCast::ToESGDeviceType(FHandLayerType::GetDeviceType(bRightHanded));
}

bool FSGHandLayerImpl::GetFirstGloveHandedness()
{
    return FHandLayerType::GetFirstGloveHandedness();
}

int32 FSGHandLayerImpl::GlovesConnected()
{
    return FHandLayerType::GlovesConnected();
}

bool FSGHandLayerImpl::GetGloveInstance(const bool bRightHanded, TSharedPtr<FSGHapticGloveImpl>& OutGlove)
{
    FSGHapticGloveImpl::FHapticGlovePtrType Glove;
    const bool bResult = FHandLayerType::GetGloveInstance(bRightHanded, Glove);

    if (bResult)
    {
        OutGlove = MakeShared<FSGHapticGloveImpl>(MoveTemp(Glove));
    }

    return bResult;
}

ESGHapticGloveCalibrationState FSGHandLayerImpl::GetCalibrationState(const bool bRightHanded)
{
    return FSGCoreEnumCast::ToESGHapticGloveCalibrationState(FHandLayerType::GetCalibrationState(bRightHanded));
}

FString FSGHandLayerImpl::GetCalibrationInstructions(const bool bRightHanded)
{
    const FString Instructions{UTF8_TO_TCHAR(FHandLayerType::GetCalibrationInstructions(bRightHanded).c_str())};
    return Instructions;
}

void FSGHandLayerImpl::ResetCalibration(const bool bRightHanded)
{
    FHandLayerType::ResetCalibration(bRightHanded);
}

void FSGHandLayerImpl::EndCalibration(const bool bRightHanded)
{
    FHandLayerType::EndCalibration(bRightHanded);
}

bool FSGHandLayerImpl::GetHandPose(const bool bRightHanded, FSGHandPoseImpl& OutHandPose)
{
    FSGHandPoseImpl::FHandPoseType HandPose;

    const bool bResult = FHandLayerType::GetHandPose(bRightHanded, HandPose);
    OutHandPose = FSGHandPoseImpl{HandPose};

    return bResult;
}

void FSGHandLayerImpl::GetWristLocation(
    const bool bRightHanded, const FVector& ReferencePosition, const FQuat& ReferenceRotation,
    const ESGPositionalTrackingHardware TrackingHardware,
    FVector& OutWristPosition,
    FQuat& OutWristRotation)
{
    FSGVect3DImpl::FVect3DType WristPosition;
    FSGQuatImpl::FQuatType WristRotation;

    FHandLayerType::GetWristLocation(
        bRightHanded,
        FSGVect3DImpl{ReferencePosition}.ToVect3D(), FSGQuatImpl{ReferenceRotation}.ToQuat(),
        FSGCoreEnumCast::ToEPositionalTrackingHardware(TrackingHardware),
        WristPosition, WristRotation);

    OutWristPosition = FSGVect3DImpl{WristPosition}.ToFVector();
    OutWristRotation = FSGQuatImpl{WristRotation}.ToFQuat();
}

void FSGHandLayerImpl::StopAllHaptics(const bool bRightHanded)
{
    FHandLayerType::StopAllHaptics(bRightHanded);
}

bool FSGHandLayerImpl::SendHaptics(const bool bRightHanded)
{
    return FHandLayerType::SendHaptics(bRightHanded);
}

bool FSGHandLayerImpl::SupportsCustomWaveform(const bool bRightHanded, const ESGHapticLocation AtLocation)
{
    return FHandLayerType::SupportsCustomWaveform(bRightHanded, FSGCoreEnumCast::ToEHapticLocation(AtLocation));
}

bool FSGHandLayerImpl::SendCustomWaveform(
    const bool bRightHanded, FSGCustomWaveformImpl& OutWaveform, const ESGHapticLocation Location)
{
    const bool bResult = FHandLayerType::SendCustomWaveform(
        bRightHanded, OutWaveform.ToCustomWaveform(), FSGCoreEnumCast::ToEHapticLocation(Location));
    return bResult;
}

bool FSGHandLayerImpl::QueueCommand_ForceFeedbackLevels(
    const bool bRightHanded, const TArray<float>& Levels01, const bool bSendImmediate)
{
    std::vector<float> Levels01Vector{FSGArrayUtils::ToStdVector(Levels01)};
    return FHandLayerType::QueueCommand_ForceFeedbackLevels(bRightHanded, MoveTemp(Levels01Vector), bSendImmediate);
}

bool FSGHandLayerImpl::QueueCommand_ForceFeedbackLevel(
    const bool bRightHanded, const int32 Finger, const float Level01, const bool bSendImmediate)
{
    return FHandLayerType::QueueCommand_ForceFeedbackLevel(bRightHanded, Finger, Level01, bSendImmediate);
}

bool FSGHandLayerImpl::QueueCommand_VibroLevels(
    const bool bRightHanded, const TArray<float>& Levels01, const bool bSendImmediate)
{
    std::vector<float> Levels01Vector{FSGArrayUtils::ToStdVector(Levels01)};
    return FHandLayerType::QueueCommand_VibroLevels(bRightHanded, MoveTemp(Levels01Vector), bSendImmediate);
}

bool FSGHandLayerImpl::QueueCommand_VibroLevel(
    const bool bRightHanded, const int32 Finger, const float Level01, const bool bSendImmediate)
{
    return FHandLayerType::QueueCommand_VibroLevel(bRightHanded, Finger, Level01, bSendImmediate);
}

bool FSGHandLayerImpl::QueueCommand_VibroLevel(
    const bool bRightHanded, const ESGHapticLocation AtLocation, const float Level01, const bool bSendImmediate)
{
    return FHandLayerType::QueueCommand_VibroLevel(
        bRightHanded, FSGCoreEnumCast::ToEHapticLocation(AtLocation), Level01, bSendImmediate);
}

bool FSGHandLayerImpl::SupportsWristSqueeze(const bool bRightHanded)
{
    return FHandLayerType::SupportsWristSqueeze(bRightHanded);
}

bool FSGHandLayerImpl::QueueCommand_WristSqueeze(
    const bool bRightHanded, const float SqueezeLevel01, const bool bSendImmediate)
{
    return FHandLayerType::QueueCommand_WristSqueeze(bRightHanded, SqueezeLevel01, bSendImmediate);
}

bool FSGHandLayerImpl::SupportsFlexionLocks(const bool bRightHanded)
{
    return FHandLayerType::SupportsFlexionLocks(bRightHanded);
}

bool FSGHandLayerImpl::QueueCommand_FlexionLock(
    const bool bRightHanded, const int32 Finger, const float Flexion01, const bool bSendImmediate)
{
    return FHandLayerType::QueueCommand_FlexionLock(bRightHanded, Finger, Flexion01, bSendImmediate);
}

bool FSGHandLayerImpl::QueueCommand_ClearFlexionLock(
    const bool bRightHanded, const int32 Finger, const bool bSendImmediate)
{
    return FHandLayerType::QueueCommand_ClearFlexionLock(bRightHanded, Finger, bSendImmediate);
}